mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-13 01:21:37 +08:00
117 lines
2.2 KiB
Bash
117 lines
2.2 KiB
Bash
#!/bin/sh
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#
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# PX4 FMUv5X specific board sensors init
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#------------------------------------------------------------------------------
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set HAVE_PM2 yes
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if ver hwtypecmp V5X50 V5X51 V5X52
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then
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set HAVE_PM2 no
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fi
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if param compare -s ADC_ADS1115_EN 1
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then
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ads1115 start -X
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else
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board_adc start
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fi
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if param compare SENS_EN_INA226 1
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then
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# Start Digital power monitors
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ina226 -X -b 1 -t 1 -k start
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if [ $HAVE_PM2 = yes ]
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then
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ina226 -X -b 2 -t 2 -k start
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fi
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fi
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if param compare SENS_EN_INA228 1
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then
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# Start Digital power monitors
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ina228 -X -b 1 -t 1 -k start
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if [ $HAVE_PM2 = yes ]
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then
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ina228 -X -b 2 -t 2 -k start
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fi
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fi
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if param compare SENS_EN_INA238 1
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then
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# Start Digital power monitors
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ina238 -X -b 1 -t 1 -k start
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if [ $HAVE_PM2 = yes ]
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then
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ina238 -X -b 2 -t 2 -k start
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fi
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fi
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if ver hwtypecmp V5X00 V5X01 V5X02 V5X10 V5X40 V5X41 V5X42 V5X51 V5X52
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then
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#FMUv5Xbase board orientation
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if ver hwtypecmp V5X00 V5X01 V5X40 V5X41 V5X51
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then
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# Internal SPI BMI088
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bmi088 -A -R 4 -s start
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bmi088 -G -R 4 -s start
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else
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# Internal SPI bus ICM20649
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icm20649 -s -R 6 start
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fi
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# Internal SPI bus ICM42688p
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icm42688p -R 6 -s start
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# Internal SPI bus ICM-20602 (hard-mounted)
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icm20602 -R 10 -s start
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# Internal magnetometer on I2c
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bmm150 -I start
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else
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#SKYNODE base fmu board orientation
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# V5X010001 ommited because not representable in this hardware format
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if ver hwtypecmp V5X90 V5X91 V5Xa0 V5Xa1 V5X80 V5X81
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then
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# Internal SPI BMI088
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bmi088 -A -R 2 -s start
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bmi088 -G -R 2 -s start
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else
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# Internal SPI bus ICM20649
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icm20649 -s -R 4 start
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fi
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# Internal SPI bus ICM42688p
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icm42688p -R 4 -s start
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# Internal SPI bus ICM-20602 (hard-mounted)
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icm20602 -R 8 -s start
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# Internal magnetometer on I2c
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bmm150 -I -R 6 start
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fi
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# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
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ist8310 -X -b 1 -R 10 start
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# Possible internal Baro
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# Disable startup of internal baros if param is set to false
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if param compare SENS_INT_BARO_EN 1
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then
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bmp388 -I -a 0x77 start
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if ver hwtypecmp V5X00 V5X10 V5X80 V5X90 V5Xa0
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then
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bmp388 -I start
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else
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bmp388 -X -b 2 start
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fi
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fi
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unset HAVE_PM2
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